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fixed the publisher bug

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This commit is contained in:
Niko Feith 2023-03-27 12:24:55 +02:00
parent 0de3eaa360
commit eee0d0e8e1
2 changed files with 13 additions and 8 deletions
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4
src/active_bo_ros/active_bo_ros/active_bo_service.py
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@ -48,7 +48,7 @@ class ActiveBOService(Node):
for j in range(nr_episodes): for j in range(nr_episodes):
# active part # active part
if (j > 3) and (np.random.uniform(0.0, 1.0, 1) < epsilon): if (j > 0) and (np.random.uniform(0.0, 1.0, 1) < epsilon):
self.get_logger().info('Active User Input') self.get_logger().info('Active User Input')
old_policy, _, old_weights = BO.get_best_result() old_policy, _, old_weights = BO.get_best_result()
@ -63,6 +63,8 @@ class ActiveBOService(Node):
x_next = BO.next_observation() x_next = BO.next_observation()
BO.eval_new_observation(x_next) BO.eval_new_observation(x_next)
self.get_logger().info(str(j))
best_policy[:, i], best_pol_reward[:, i], best_weights[:, i] = BO.get_best_result() best_policy[:, i], best_pol_reward[:, i], best_weights[:, i] = BO.get_best_result()
reward[:, i] = BO.best_reward.T reward[:, i] = BO.best_reward.T

17
src/active_bo_ros/active_bo_ros/active_rl_service.py
View File

@ -40,12 +40,14 @@ class ActiveRLService(Node):
self.distance_penalty = 0 self.distance_penalty = 0
def active_rl_eval_callback(self, response): def active_rl_eval_callback(self, response):
if not self.eval_response_received_first: # if not self.eval_response_received_first:
self.eval_response_received_first = True # self.eval_response_received_first = True
self.get_logger().info('/active_rl_eval_response connected!') # self.get_logger().info('/active_rl_eval_response connected!')
else: # else:
self.eval_response = response # self.eval_response = response
self.eval_response_received = True # self.eval_response_received = True
self.eval_response = response
self.eval_response_received = True
def active_rl_callback(self, request, response): def active_rl_callback(self, request, response):
@ -92,7 +94,7 @@ class ActiveRLService(Node):
self.eval_pub.publish(eval_request) self.eval_pub.publish(eval_request)
while not self.eval_response_received: while not self.eval_response_received:
time.sleep(0.1) rclpy.spin_once(self)
self.get_logger().info('Topic responded!') self.get_logger().info('Topic responded!')
new_policy = self.eval_response.policy new_policy = self.eval_response.policy
@ -103,6 +105,7 @@ class ActiveRLService(Node):
reward = 0 reward = 0
step_count = 0 step_count = 0
done = False done = False
self.env.reset()
for i in range(len(new_policy)): for i in range(len(new_policy)):
action = new_policy[i] action = new_policy[i]